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/*!******************************************************************
 @author     ZhangWanjie
 ********************************************************************/

#include <ros/ros.h>
#include "driver/WPB_Mani_driver.h"
#include <math.h>

static CWPB_Mani_driver m_wpb_mani;
static int arManiPos[5];
static int arManiSpeed[5];

int main(int argc, char** argv)
{
    ros::init(argc,argv,"wpb_mani_joint_zero");

    ros::NodeHandle n_param("~");
    std::string strSerialPort;
    n_param.param<std::string>("serial_port", strSerialPort, "/dev/ftdi");
    m_wpb_mani.Open(strSerialPort.c_str(),115200);

    for(int i=0;i<5;i++)
    {
        arManiPos[i] = 0;
        arManiSpeed[i] = 2000;
    }
    arManiPos[4] = -4000;

    int nCount = 0;
    ros::NodeHandle n;
    ros::Rate r(1);
    while(n.ok())
    {
        m_wpb_mani.SetManiSpd(arManiSpeed[0] , arManiSpeed[1] , arManiSpeed[2] , arManiSpeed[3] , arManiSpeed[4] );
        m_wpb_mani.SendManiPos( arManiPos[0] , arManiPos[1] , arManiPos[2] , arManiPos[3] , arManiPos[4] );

        ROS_INFO("[wpb_mani_joint_zero] nCount = %d",nCount);
        nCount ++;

        ros::spinOnce();
        r.sleep();
    }
}
